Welcome to humanoid_base_footprint’s documentation!

Description

Publishes a transform to the base footprint of the robot, based on the orientation and position of the feet.

The base_footprint is used as a frame for navigation. It represents the position and orientation of the whole robot. A more elaborate description of this concept is described in REP120.

Subscriptions

/walk_support_state – std_msgs/Char

/dynamic_kick_support_state – std_msgs/Char

Publishes

nothing

TFs

base_link –> base_footprint

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